• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1381-1388
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• 1993

This paper presents a method for the simultaneous optimal design of structural and control systems. Sensitivities of performance index with respect to structural design variables are analyzed. The structural design variables are optimized to minimize the performance index by use of conjugate gradient method. The method is applied to a half model of an active vehicle suspension system with elastic body moving on a randomly profiled road. The suspension control force of an optimally controlled system in the presence of measurement errors are calculated by use of linear quadratic Gaussian control theory and Kalman filter theory. The performance index contains ride comfort, road holding and working space of suspension. The structural design variables taken are stiffness, daming properties and the position of the suspension system. The random road profile considered as colored noise is shaped from white noise by use of shaping filter. The performance of an optimal simultaneous structure/control system is compared with that of an optimal controlled system.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of the Korean Institute of Telematics and Electronics
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• v.17 no.5
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• pp.15-21
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• 1980

An engine control system in which the conventional mechanical ignition system is studied. The contact point of the breaker is replaced by the contactless magnetic pick up sensor from which the information of the speed and the position of the crankshaft is extracted , and further an electronic High Energy Ignitim System Is designed, implemented and tested . The High Energy Igniticwl System increases the secondary spark voltage of the ignition coil from the conventional 10000~15000 volts to the 30000~40000 volts resulting in improving the combustion efficiency. Also, instead of the conventional advimce mechanism forigniliontiming control, a microprocessorbased timinng mechanisn is installed to determine the ignition timing data in response to the engine rpm and the intake manifold vacuum.

• The KIPS Transactions:PartD
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• v.19D no.3
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• pp.221-228
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• 2012

This paper proposes a new forging work-in-process control system that guarantees independency of a specific device and provides cost-effectiveness. Until now, much research has been studied on improving the process productivity through efficient work-in-process or inventory controls. Especially, incorporating various IT technologies such as barcode, RFID, and image recognition has been done. However, those approaches cause many problems due to the characteristics of the forging work-in-process control environment. To overcome the limitations of the existing approaches, this paper proposes a novel forging work-in-process control system. The proposed system in this paper identifies and precisely manages positions of objects by using GPS information of smart mobile devices. Therefore, identification tags as well as specific devices for reading the tags do not been required. It resolves the problems of the previous approaches and enhances the productivity of the overall forging work-in-process control process.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.5
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• pp.459-466
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• 2000

A new control method for precision robust speed control of a PMSM(Permanent Magnet Synchronous Motor) using load torque observer is presented. Using this system, we can more precisely evacuate of vestibular function. Until now a rotating chair system, so called 2D-stimulator, which has vertical rotate axis is used to make dizziness. However, an inclined rotating chair system witch is called 3D-stimulator is needed to obtain the precise dizziness data. This 3D-stimulator include unbalanced load caused by unbalanced center of mass. In this case, new compensation method is considered to obtain robust speed control using load torque observer. To reduce the effect of this disturbance, we can use dead-beat observer that has high gain. The application of the load to torque observer is published in for position control. However, there is a problem of using speed information such as amplifying effect of noise. Therefore, we can reduce a noise effect by moving average process. The experimental results are depicted in this paper to show the effect of this proposed algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.711-723
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• 2017

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.6
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• pp.535-544
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• 2017

In this paper, to overcome the limitation of information transmission and reception according to the RF system of UAV, it is necessary to check the position of many UAVs in flight on the basis of mobile communication and to make the LTE modem lightweight and low power And UAVs that are in operation are received and controlled. Through this study, we proposed a method to control real-time location tracking by connecting high-resolution images to the network anytime and anywhere. For this purpose, we propose the requirements and requirements of LTE modem using real-time high-speed data communication technology (3G, 4G LTE, Bluetooth) by presenting the communication module system of LTE-based UAV. N:N control system concept and implementation technology(Control system structure, control data flow chart, flight planning and transmission, real-time location tracking).

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.495-500
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• 2013

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

• Proceedings of the Korean Society for Applied Microbiology Conference
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• 2000.04a
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• pp.178-181
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• 2000

In order to develop the novel gene expression system, we introduced new control elements which could influence the foreign gene expression in animal cells. When the foreign genes are introduced into the genome of higher eukaryotic cells, the expressions from these integrated genes are often low and can vary greatly depending on the positions of the integration sites due to the complex nature of the chromatin structures (1). First we screened the various DNA sequence elements which can function as an insulator of gene expression from these position effects and can cooperate with the SV40 enhancer/promoter. Among the several DNA elements from the various sources, we identified the particular DNA element which confers the increased frequency of the positive colonies, assayed by the reporter gene from stable selections indicating significantly reduced position effects. This element also showed the several fold-increased expression level as well as the copy-number dependent expression with host cell specificity. Second we modified the transcription termination element where we introduced the specific terminator in combination with SV40 polyA signal. This modified terminator showed the increased efficiency and the level of the gene expression. By combining these two elements, we made the animal cell expression system and tested successfully for the recombinant protein productions of TGF ${\beta}$-soluble receptor, Antithrombin III, and single chain Pro-Urokinase. [Supported by grants from MOCIE]

• Spatial Information Research
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• v.13 no.4 s.35
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• pp.373-380
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• 2005

Mobile Mapping Systems are effective systems to acquire the position and image data using vehicle equipped with the GPS (Global Positioning System), IMU (Inertial Measurement Unit), and CCD camera. They are used in various fields of road facility management, map update, and etc. In the general photogrammetry such as aerial photogrammetry, GCP (Ground Control Point)s are needed to compute the image exterior orientation elements (the position and attitude of camera). These points are measured by field survey at the time of data acquisition. But it costs much time and money. Moreover, it is not possible to make sufficient GCP as much as we want. However Mobile Mapping Systems are more efficient both in time and money because they can obtain the position and attitude of camera at the time of photographing. That is, Image Orientation Technique must use GCP to compute the image exterior orientation elements, but on the other hand Direct Georeferencing can directly compute the image exterior orientation elements by GPS/INS. In this paper, we analyze about the positional accuracy comparison of ground point using the Image Orientation Technique and Direct Georeferencing Technique.